Range extender control method for preventing water from entering engine, medium and range extending type automobile

Abstract

The invention belongs to the field of intelligent automobiles, and particularly relates to a range extender control method for preventing water from entering an engine, a medium and a range-extended automobile. The method comprises the following steps that the environment where the automobile is located is obtained through a visual sensor, and whether the automobile is located in water or not is recognized; judging the size relation between the automobile speed and a set automobile speed threshold value; calculating the size relationship between the running resistance of the automobile at the current speed and a set resistance threshold value; and the range extender is prohibited from being used. Compared with the prior art, the problem that in the prior art, due to the fact that a user does not start the wading mode, the range extender of the range-extending type automobile is damaged when wading is solved. According to the scheme, whether the range extending type automobile wades is judged, and whether the range extender is allowed to be used is determined accordingly.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent vehicles, and particularly relates to a control method, medium and range-extended vehicle for preventing engine water ingress. Background Art

[0002] As a technical branch of new energy vehicles, a range-extended vehicle is a vehicle that adds an internal combustion engine (range extender) to a pure electric vehicle to charge the power battery or directly drive the motor to increase the driving range. Therefore, a range-extended vehicle is also called a plug-in hybrid electric vehicle (PHEV). It has two working modes: ① Pure electric mode: When the battery is fully charged, the range-extended vehicle is driven by the power battery to provide all the power required by the vehicle, and the internal combustion engine does not work at this time; ② Hybrid mode: When the battery power drops to a certain level, the internal combustion engine starts and charges the battery to meet the continuous driving requirements of the vehicle. When the battery is fully charged again, the internal combustion engine stops working, and the vehicle continues to be driven by the battery. Due to the advantages of long driving range, environmental protection and low noise, range-extended vehicles are more favored by the market.

[0003] Moreover, many manufacturers have also set a "wading mode" for range-extended vehicles, which is specifically designed to cope with wading driving scenarios. The wading mode adjusts multiple systems of the vehicle to ensure the safety and stability of the vehicle during wading driving. Specifically, the wading mode generally involves the following adjustments: 1) Suspension height adjustment: The wading mode may activate the variable height suspension control system to change the height of the vehicle suspension, so as to increase the ground clearance of the vehicle and prevent chassis damage caused by excessive wading depth; 2) Power output adjustment: In the wading mode, the vehicle may adjust the power output to reduce the power loss caused by water flow resistance, and at the same time ensure the stable operation of the engine or motor during wading; 3) Electrical system protection: The wading mode may strengthen the protection of the electrical system, such as the power battery pack, motor and wiring harness, etc., to prevent electrical failures caused by wading.

[0004] However, during normal driving, users may fail to turn on or forget to turn on the wading mode in time. Moreover, the start and stop of the range extender are completely controlled by the vehicle controller, which results in the engine being easily flooded during wading and causing irreversible damage.

[0005] Currently, some researchers have been studying vehicle wading:

[0006] As disclosed in CN113829878B, a method, apparatus, and vehicle for controlling a vehicle are provided. The method includes obtaining the operating state of the vehicle's fan; when the operating state is abnormal, obtaining the current driving speed of the vehicle; determining whether the vehicle is wading based on the current driving speed; and when it is determined that the vehicle is wading, closing the canister vent solenoid valve (CVS valve) and the canister solenoid valve of the vehicle. This method can judge whether the vehicle is wading and the wading state (such as parameters like depth) to control the valve to close, thereby avoiding vehicle damage. In this method, the judgment is made based on the operating state of the fan. However, as the usage duration of the vehicle increases, the fan itself has a certain performance degradation, resulting in the method being prone to false judgment and misjudgment. In addition, since the fan is also affected by certain external environments and weather conditions, when the vehicle is driving in some special environments, such as strong winds and sandstorms, misjudgment will also occur, leading to loss of vehicle power. Furthermore, judging through the fan has a certain lag, that is, the water level needs to reach a certain height to have a relatively obvious impact on the fan. At this time, a small amount of water has already entered the pipeline, becoming a hidden danger.

[0007] As disclosed in CN118062009A, a vehicle wading protection method, apparatus, vehicle, and storage medium are provided. The method includes calibrating multiple monitoring points at intervals in the height direction on the vehicle; collecting the monitoring data of the monitoring unit and determining the first target points with wading information; determining the second target point with the highest calibration position from the first target points; and based on a preset wading response mechanism and the second target point, sending corresponding wading depth warning information and vehicle speed suggestion values to the vehicle central control module and adjusting the wading response state of the vehicle. In this method, the wading height is measured by arranging multiple monitoring points at intervals on the vehicle body. However, this method requires additional sensors, which will increase the processes and difficulties of design and production manufacturing, thereby leading to an increase in the overall vehicle cost. Moreover, this method uses a form of arranging multiple sensors at intervals in the height direction. Thus, when the range extender vehicle is on flat ground, it has relatively high accuracy and precision. However, when the range extender vehicle is on a slope (such as entering or exiting a tunnel), its arrangement has a certain angle with the water surface, resulting in its inability to accurately reflect the actual state of the range extender vehicle.

[0008] In summary, there is still a lack of a method for intelligently managing the operation of the range extender in the wading mode, which needs to be improved. Summary of the Invention

[0009] The object of the present invention is to provide a control method, medium and range-extended vehicle for preventing engine water ingress to solve at least one of the above problems, so as to solve the problem in the prior art that the range extender of the range-extended vehicle is damaged by water ingress during wading because the user does not turn on the wading mode. This solution realizes the judgment of whether the range-extended vehicle is wading and determines whether to allow the use of the range extender accordingly.

[0010] The object of the present invention is achieved by the following technical solutions:

[0011] The first aspect of the present invention discloses a control method for a range extender to prevent engine water ingress, including the following steps:

[0012] S1: Obtain the environment where the vehicle is located through a vision sensor and identify whether the vehicle is in water: If it is identified that the vehicle is not in water, the use of the range extender is allowed; if it is identified that the vehicle is in water, go to step S2;

[0013] S2: Judge the magnitude relationship between the vehicle speed and the set vehicle speed threshold: If the vehicle speed is not less than the vehicle speed threshold, the use of the range extender is allowed; if the vehicle speed is less than the vehicle speed threshold, go to step S3;

[0014] S3: Calculate the magnitude relationship between the driving resistance of the vehicle at the current vehicle speed and the set resistance threshold: If the driving resistance is not greater than the resistance threshold, the use of the range extender is allowed; if the driving resistance is greater than the resistance threshold, it is determined that the vehicle is driving in deep water;

[0015] S4: Prohibit the use of the range extender.

[0016] Preferably, in step S1, the vision sensor is an in-vehicle camera.

[0017] Preferably, in step S2, the vehicle speed of the vehicle includes: the maximum vehicle speed within a period of time and the average vehicle speed within a period of time.

[0018] Preferably, in step S3, the driving resistance is: the difference between the actual resistance of the vehicle obtained by calculating the driving force and the vehicle speed change and the theoretical resistance of the vehicle calculated based on the vehicle speed and the body inclination angle.

[0019] Preferably, in step S3, when it is determined that the vehicle is driving in deep water, the following steps are also performed:

[0020] Judge whether the SOC of the vehicle exceeds the set SOC threshold:

[0021] If the SOC of the vehicle is not greater than the SOC threshold, prompt the user to select whether to allow the use of the range extender, and allow or prohibit the use of the range extender according to the user's instruction;

[0022] If the vehicle's state of charge (SOC) is greater than the SOC threshold, then it is determined whether the range extender has been disabled and the relationship between the change in SOC after disabling and the set SOC change threshold: If the range extender has been disabled and the change in SOC after disabling is greater than the SOC change threshold, the user is prompted to select whether to allow the use of the range extender, and the use of the range extender is allowed or prohibited according to the user's instruction; If the range extender has not been disabled or the change in SOC after disabling is not greater than the SOC change threshold, the use of the range extender is prohibited.

[0023] Preferably, the change in SOC after disabling includes: the SOC value at the time of judgment and the rate of decrease of SOC.

[0024] Preferably, in the calculation of the rate of decrease of SOC, the initial value of SOC is the SOC value at the first time the range extender is prohibited from being used.

[0025] Preferably, according to the user's instruction includes receiving the user's feedback and not receiving the user's feedback: If the user's feedback is received, the use of the range extender is allowed or prohibited according to the user's feedback, and if the user's feedback is not received, the use of the range extender is prohibited.

[0026] The second aspect of the present invention discloses a computer-readable storage medium, and the computer-readable storage medium includes a stored program, wherein, when the program runs, it controls the device where the computer-readable storage medium is located to execute any one of the above control methods.

[0027] The third aspect of the present invention discloses a range-extended vehicle, including a vehicle controller, vehicle sensors, and a range extender, wherein the vehicle sensors at least include a vision sensor, and the vehicle controller, vehicle sensors, and range extender interact to execute any one of the above control methods.

[0028] The working principle of the present invention is as follows:

[0029] First, the vision sensor is used to preliminarily determine whether the vehicle is in water or a wading environment. If it is in water or a wading environment, the next judgment is entered; Subsequently, the wading depth is reflected from the side through the performance characteristics during vehicle operation. Specifically, the vehicle speed is obtained and the driving resistance at the current vehicle speed is calculated to determine the wading depth of the vehicle.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The control method proposed by the present invention combines the vision sensor and the vehicle operation performance to judge whether the vehicle is in a wading state, and its judgment result is more accurate and more timely.

[0032] The control method proposed by the present invention further considers the state of the vehicle's SOC, and makes a decision on whether to use the range extender by combining the SOC state and the user's feedback, which can reduce the loss of power of the vehicle during wading and prevent the vast majority of range extenders from misstarting in water. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic flowchart of the range extender control method of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments may be combined with each other.

[0035] It should be noted that although the intervals are divided in the schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order from the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence.

[0036] In the description of the present invention, it should be noted that if terms such as "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the product of the invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0038] At present, as a technical branch of new energy vehicles, range-extended electric vehicles are quite popular in the market. However, since the start and stop of the range extender of range-extended electric vehicles are completely controlled by the vehicle controller, when the vehicle is driving through water, the range extender is prone to mis-starting, resulting in engine damage. Although many range-extended electric vehicles already provide a wading mode for users to avoid engine water ingress damage by adjusting the vehicle's operation mode, in actual driving, users may still forget to select and activate this mode before and during wading, which may ultimately lead to the engine starting during wading and causing damage.

[0039] In addition, in the prior art, the wading height has been judged by the operating state of the fan. However: 1) The fan itself has a certain performance degradation after long-term use, resulting in misjudgment and incorrect judgment in range-extended electric vehicles with long-term use, leading to abnormal operation of the range extender; 2) The operation of the fan itself is affected by various factors such as weather and environment. In some special weather and extreme weather conditions, such as strong winds and sandstorms, misjudgment and incorrect judgment will also occur, resulting in abnormal operation of the range extender; 3) The change in the operating state of the fan has a certain lag, that is, after the water level reaches and exceeds a certain height, such as submerging 1 / 4 or 1 / 2 of the fan, its operating state will change significantly to meet the set threshold requirements. At this time, some water has entered the pipeline and may endanger the operation of the engine. In the prior art, there are also multiple monitoring points set on the vehicle body to measure the wading height, so as to implement different decisions according to different wading heights. Although this method is more direct and accurate in measurement and can implement different wading strategies according to different water level heights, however: 1) This method requires additional multiple sensors to be set on the vehicle body, which not only increases the difficulty of vehicle body design, production and processing steps, and production costs, but also affects the current vehicle body structure design, making it difficult to install on existing range-extended electric vehicles; 2) The measurement accuracy of the water level by this method is related to the arrangement of the sensors. For example, when they are arranged at intervals along the height direction, when the range-extended electric vehicle is on flat ground, this arrangement can obtain accurate data, while when the range-extended electric vehicle is on a slope, there is a certain angle between its arrangement and the water surface, resulting in inaccurate measurement.

[0040] Based on this, the applicant proposes a range extender control method that combines a vision sensor and the vehicle operating state to jointly judge the wading state of a range-extended electric vehicle. First, the camera preliminarily identifies whether the vehicle is driving in water or in a wading state, and then combines some characteristics and real-time performance indicators during vehicle operation to judge whether the vehicle needs to prohibit the start of the range extender.

[0041] Embodiment 1

[0042] A range extender control method for preventing engine water ingress, as Figure 1 shown, includes the following steps:

[0043] S1: Obtain the environment where the vehicle is located through a vision sensor, and identify whether the vehicle is in water. If it is identified that the vehicle is not in water, the range extender is allowed to be used. If it is identified that the vehicle is in water, go to step S2;

[0044] S2: Judge the relationship between the vehicle speed and the set vehicle speed threshold. If the vehicle speed is not less than the vehicle speed threshold, the range extender is allowed to be used. If the vehicle speed is less than the vehicle speed threshold, go to step S3;

[0045] S3: Calculate the relationship between the driving resistance of the vehicle at the current vehicle speed and the set resistance threshold. If the driving resistance is not greater than the resistance threshold, the range extender is allowed to be used. If the driving resistance is greater than the resistance threshold, it is determined that the vehicle is driving in deep water;

[0046] S4: Prohibit the use of the range extender.

[0047] More specifically, in this embodiment:

[0048] This embodiment proposes a method for an extended-range vehicle to intelligently judge whether it is in a wading state and to intelligently decide whether to disable the range extender when wading:

[0049] I. Intelligently identify whether the vehicle is in a wading state:

[0050] 1. First, obtain the surrounding environment of the vehicle through a vision sensor, and determine whether the vehicle is driving in water according to image recognition technology. However, since the vision sensor cannot accurately distinguish between deep water and shallow water, the vision sensor can only provide a preliminary judgment function, which can be used to initiate subsequent judgments.

[0051] 2. Second, through some characteristics and performance indicators during the operation of the vehicle, assist in judging whether the vehicle is driving in deep water, that is, whether it is in a wading state:

[0052] When the vehicle is wading, when the water surface only submerges the four tires, the increase in its resistance compared to the normal state is not large. At the same time, the use of the range extender is not prohibited at this water surface height. When the water surface submerges part of the vehicle body and reaches the air intake of the engine, due to the rapid increase in the force-bearing area and the volume of water entering, the driving resistance at this time will increase significantly. Therefore, the water depth can be accurately judged by measuring and calculating the current driving resistance of the vehicle and cooperating with the image data of the vision sensor.

[0053] In this embodiment, some characteristics and performance indicators during the operation of the vehicle are specifically:

[0054] 2.1 Vehicle speed: When the vehicle passes through an area with relatively deep water, the vehicle speed is often low;

[0055] 2.2 Driving resistance: When the vehicle passes through an area with relatively deep water, the driving resistance increases significantly (the influence brought by the road gradient needs to be considered simultaneously).

[0056] In this embodiment, the vision sensor can be directly connected to the in-vehicle camera already equipped in the range-extended vehicle, which can reduce and avoid the setting of additional sensors and the change of the vehicle body structure. This not only reduces the usage cost of this control method, but also can be improved on the existing range-extended vehicle, with better and wider applicability.

[0057] Furthermore, this control method also takes the vehicle's SOC into account. Under normal usage conditions, whether it is urban waterlogging or crossing a river off-road, the wading mileage of the vehicle will not be particularly long. Even if the range extender is temporarily disabled, not much power will be lost. Therefore, on this basis, when it is confirmed that the vehicle is in a wading state through the above "1. Intelligent identification of whether the vehicle is in a wading state", this control method further combines the SOC for judgment:

[0058] 1. If the current SOC of the vehicle is high enough, directly prohibit the use of the range extender;

[0059] 2. If the current SOC of the vehicle is lower than the set threshold, or if the SOC drops too much after the use of the range extender is prohibited, the user (i.e., the driver) should be confirmed again whether the vehicle is currently in a wading state and whether it is necessary to continue to prohibit the use of the range extender.

[0060] Therefore, in this embodiment, as Figure 1 shown, this control method is:

[0061] ① Preliminary identification and judgment of the wading state:

[0062] First, the vision sensor (in-vehicle camera) is used to preliminarily judge whether the vehicle is driving on or in the water, that is, whether it is in a wading state:

[0063] If the environment obtained by the vision sensor is judged not to be in a wading state, the vehicle controller allows the use of the range extender;

[0064] If the environment obtained by the vision sensor is judged to be in a wading state, then the judgment in ② is carried out;

[0065] Whether it is in a wading state can be reasonably adjusted by the vehicle factory according to needs. For example, a large area of water surface appearing in the vision sensor can be used as the judgment standard for the wading state, or a certain area ratio of water surface continuously existing for a period of time can be used as the judgment standard for the wading state, etc. The specific parameter values can be adjusted and set according to requirements.

[0066] ② Judgment of the vehicle speed:

[0067] Secondly, the vehicle controller makes an auxiliary determination on whether the vehicle is in a wading state based on the maximum vehicle speed and average vehicle speed within a certain period of time:

[0068] If the maximum vehicle speed of the vehicle within a certain period of time is not less than the first vehicle speed threshold, and the average vehicle speed of the vehicle within a certain period of time is not less than the second vehicle speed threshold, the vehicle controller allows the use of the range extender;

[0069] If the maximum vehicle speed of the vehicle within a certain period of time is less than the first vehicle speed threshold, and the average vehicle speed of the vehicle within a certain period of time is less than the second vehicle speed threshold, then the judgment in ③ is made;

[0070] The certain period of time, the first vehicle speed threshold, and the second vehicle speed threshold can all be set according to different needs. In this embodiment, an example is given here. For example, if the maximum vehicle speed is less than 30 km / h within 30 s and the average vehicle speed is less than 15 km / h within 30 s, then the judgment in ③ is made.

[0071] In addition, when the maximum vehicle speed of the vehicle within a certain period of time is not less than the third vehicle speed threshold, or the average vehicle speed of the vehicle within a certain period of time is not less than the fourth vehicle speed threshold, the judgment process is exited. The certain period of time, the third vehicle speed threshold, and the fourth vehicle speed threshold can all be set according to different needs. In this embodiment, an example is given here. For example, if the maximum vehicle speed is not less than 60 km / h within 15 s or the average vehicle speed is not less than 40 km / h within 30 s, then the judgment process is exited.

[0072] ③ Since the driving resistance during driving in water will increase significantly with the depth the vehicle enters, far exceeding the resistance brought by different terrain environments and weather conditions, thus through the judgment of the driving resistance of the vehicle at the current vehicle speed:

[0073] Subsequently, the vehicle controller makes an auxiliary determination on whether the vehicle is in a wading state based on the driving resistance of the vehicle at the current vehicle speed:

[0074] Definition:

[0075] 1) Theoretical vehicle resistance: Depending on the current vehicle speed and body inclination of the vehicle, calculate the current theoretical resistance of the vehicle;

[0076] 2) Actual vehicle resistance: Calculate the current actual resistance of the vehicle through the applied driving force and the change in vehicle speed;

[0077] 3) Driving resistance: The difference between the actual vehicle resistance and the theoretical vehicle resistance;

[0078] If the driving resistance of the vehicle is less than the set resistance threshold, it is determined that the vehicle is not in a wading state, and the use of the range extender is allowed;

[0079] If the driving resistance of the vehicle is not less than the set resistance threshold, it is determined that the vehicle is currently in a wading state and in deep water. The range extender should be prohibited from use, and then the judgment in ④ is carried out.

[0080] Among them, the resistance threshold should be tested for different vehicle models to obtain appropriate values. Under different vehicle models, this value may vary greatly according to the stress area and drainage volume. In addition, in the judgment of this step, a period of confirmation is required to avoid entering the subsequent steps due to only transient excessive resistance caused by external reasons; since when the driving resistance becomes significantly larger, the water level has submerged the tire height, therefore, the period taken here should not be too long. Considering that the vehicle speed during wading is not too fast, it can usually be set from several seconds to more than ten seconds.

[0081] In this step, when the driving resistance of the vehicle is less than the set resistance threshold for a period of time, the judgment step can be exited. The period of time for this step can be selected as needed with not too many restrictions.

[0082] ④Combined judgment based on SOC:

[0083] ④-①Judge whether the current SOC exceeds the set SOC threshold:

[0084] If the current SOC of the vehicle is not greater than the SOC threshold, then: it indicates that the vehicle's battery power is low. According to the normal procedure, the range extender should be started for power generation and range extension. However, since the vehicle is in deep water, at this time, the user should be prompted that the vehicle is driving in deep water to inform the user of the risk of enabling the range extender, and the user determines whether to continue to enable the range extender; when the user confirms to enable, the vehicle control unit allows the use of the range extender; when the user confirms not to enable, or the user does not make a confirmation, the use of the range extender is prohibited.

[0085] If the current SOC of the vehicle is greater than the SOC threshold, then: proceed to ④-② for judgment.

[0086] ④-②Judge the change state of SOC:

[0087] If the use of the range extender has been prohibited currently, and the change state of SOC after the prohibition of using the range extender is greater than the SOC change threshold, then: it indicates that the vehicle consumes power quickly. The user should be prompted that the vehicle is driving in deep water to inform the user of the risk of enabling the range extender, and the user determines whether to continue to enable the range extender; when the user confirms to enable, the vehicle control unit allows the use of the range extender; when the user confirms not to enable, or the user does not make a confirmation, the use of the range extender is prohibited. Among them, the change state of SOC can be set as the decline rate or decline to below the threshold according to different rules. The decline rate can be set as the decline amount within a certain period of time or just the decline amount (such as the decline amount is 5% of the total amount), and it is selected and set according to different needs.

[0088] If the range extender is not currently prohibited from use, or if the change state of the SOC after prohibiting the use of the range extender is less than the SOC change threshold, then: prohibit the use of the range extender.

[0089] During the judgment process of step ④, each time the user confirms not to enable the range extender or does not make a confirmation, the current vehicle SOC is recorded and marked as SOC_Start, and then the change state of the SOC for this round is calculated based on this SOC_Start.

[0090] This control method determines whether it is in deep water by means of a vision sensor and changes in the vehicle operating state / movement characteristics. Through multiple rounds and various forms of judgment, it has a high accuracy rate. Subsequently, it also combines the SOC for judgment and asks the user to finally determine whether the range extender needs to be prohibited from use, which can prevent the vast majority of cases where the range extender starts accidentally in water. Moreover, the data and information required by this control method are all information that can be obtained by the sensors already installed on existing vehicles (such as on-vehicle cameras, vehicle speed, body inclination, driving force, etc.), without the need for additional structural modifications and designs. In theory, it can be used for any range-extended electric vehicle with an assisted driving function, and has excellent applicability and application prospects.

[0091] Embodiment 2

[0092] A range-extended electric vehicle, which at least includes a vehicle controller, vehicle sensors, and a range extender. Among them, the vehicle sensors at least include a vision sensor to obtain vehicle environment images, and sensors such as a vehicle speed sensor, an inclination sensor, and a torque sensor for obtaining parameters such as vehicle speed, body inclination, and driving force. The vehicle controller, vehicle sensors, and range extender are electrically connected to each other. The data obtained through the vehicle sensors are transmitted to the vehicle controller for judgment and calculation of the control method in Embodiment 1, and then the range extender is instructed to perform corresponding actions according to the obtained results.

[0093] In summary, the control method provided by the present invention combines a vision sensor and vehicle operating performance to judge whether the vehicle is in a wading state. Its judgment result is more accurate and timely; and it further considers the vehicle SOC state, and combines the SOC state and the user's feedback to make a decision on whether to use the range extender, which can reduce the vehicle from losing power during wading and prevent the vast majority of cases where the range extender starts accidentally in water.

[0094] The above description of the embodiments is to enable those of ordinary skill in the art to understand and use the invention. Obviously, those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative efforts. Therefore, the present invention is not limited to the above embodiments, and all improvements and modifications made by those skilled in the art without departing from the scope of the present invention according to the disclosure of the present invention should be within the protection scope of the present invention.

Claims

1. A range extender control method for preventing water from entering an engine, characterized in that: The steps include: S1: Obtain the environment of the car through the visual sensor and identify whether the car is in the water: if it is not in the water, the range extender is allowed to be used; if it is in the water, proceed to step S2; S2: Determine the relationship between the vehicle speed and the set speed threshold: if the vehicle speed is not less than the speed threshold, the range extender is allowed to be used; if the vehicle speed is less than the speed threshold, proceed to step S3; S3: Calculate the relationship between the driving resistance of the vehicle at the current speed and the set resistance threshold: if the driving resistance is not greater than the resistance threshold, the range extender is allowed to be used; if the driving resistance is greater than the resistance threshold, it is determined that the vehicle is driving in deep water; S4: The use of range extenders is prohibited.

2. A range extender control method for preventing water from entering an engine according to claim 1, characterized in that: In step S1, the visual sensor is a vehicle-mounted camera.

3. A range extender control method for preventing water from entering an engine according to claim 1, characterized in that: In step S2, the vehicle speed includes: the maximum vehicle speed within a period of time and the average vehicle speed within a period of time.

4. A range extender control method for preventing water from entering an engine according to claim 1, characterized in that: In step S3, the driving resistance is the difference between the actual resistance of the vehicle obtained by calculating the driving force and the change of the vehicle speed and the theoretical resistance of the vehicle calculated based on the vehicle speed and the inclination angle of the vehicle body.

5. A range extender control method for preventing water from entering an engine according to claim 1, characterized in that: In step S3, when it is determined that the vehicle is traveling in deep water, the following steps are further performed: Determine whether the vehicle SOC exceeds the set SOC threshold: If the vehicle SOC is not greater than the SOC threshold, the user is prompted to select whether to allow the use of the range extender, and the use of the range extender is allowed or prohibited according to the user's instructions; If the vehicle SOC is greater than the SOC threshold, it is determined whether the range extender has been disabled and the relationship between the change in SOC after disabling and the set SOC change threshold: if the range extender has been disabled and the change in SOC after disabling is greater than the SOC change threshold, the user is prompted to select whether to allow the use of the range extender, and the use of the range extender is allowed or prohibited according to the user's instructions; if the range extender has not been disabled or the change in SOC after disabling is not greater than the SOC change threshold, the use of the range extender is prohibited.

6. A range extender control method for preventing water from entering an engine according to claim 5, characterized in that: The amount of change in SOC after disabling includes: the SOC value when the judgment is made and the rate of decrease of SOC.

7. A range extender control method for preventing water from entering an engine according to claim 6, characterized in that: In the calculation of the SOC decrease rate, the initial value of the SOC is the SOC value when the range extender is prohibited from being used for the first time.

8. A range extender control method for preventing water from entering an engine according to claim 5, characterized in that: According to the user instruction includes receiving user feedback and not receiving user feedback: if user feedback is received, allowing or prohibiting the use of the range extender is performed according to the user feedback; if no user feedback is received, prohibiting the use of the range extender.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the control method according to any one of claims 1 to 8.

10. An extended-range vehicle, characterized in that: The invention comprises a vehicle controller, a vehicle sensor and a range extender, wherein the vehicle sensor comprises at least a visual sensor, and the vehicle controller, the vehicle sensor and the range extender interact to execute the control method as claimed in any one of claims 1 to 8.

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